CN104410324B - A kind of miniature rotation straight-line traveling wave piezoelectric motor - Google Patents
A kind of miniature rotation straight-line traveling wave piezoelectric motor Download PDFInfo
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- CN104410324B CN104410324B CN201410707163.3A CN201410707163A CN104410324B CN 104410324 B CN104410324 B CN 104410324B CN 201410707163 A CN201410707163 A CN 201410707163A CN 104410324 B CN104410324 B CN 104410324B
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- 239000000919 ceramic Substances 0.000 claims abstract description 28
- 238000005192 partition Methods 0.000 claims abstract description 20
- 238000009434 installation Methods 0.000 claims abstract description 10
- 238000004804 winding Methods 0.000 claims description 3
- 230000005284 excitation Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000002604 ultrasonography Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 239000002305 electric material Substances 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000010287 polarization Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
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Abstract
Miniature rotation straight-line traveling wave piezoelectric motor disclosed by the invention, including stator module and screw mandrel（1）, the stator module is by a piece of circular sheet（2）With two panels annular piezoelectric ceramic piece（3）It is stacked to form, the circular sheet（2）It is provided with a screwed hole of centre, and uniform several through holes are used for the fixed installations of motor at excircle；The screw mandrel（1）It is assemblied on stator module by screwed hole.By to two panels annular piezoelectric ceramic piece（3）On adjacent fanned partition apply haveThe drive signal of phase difference, will be in circular sheet（2）Screwed hole at motivate the traveling wave rotated around central shaft, by rubbing action drive screw（1）Rotate, due to threaded connection, screw mandrel（1）Be rotated about axis the linear motion for causing it along axis；If driving voltage signal revert all, screw mandrel（1）Rotational motion to linear motion will be reverse.The motor have the advantages that simple structure, be compact, easy to miniaturization, positioning precision it is high.
Description
Technical field
The present invention relates to a kind of miniature rotation straight-line traveling wave piezoelectric motor, belong to Precision Piezoelectric actuation technology field.
Background technology
Ultrasound electric machine is a kind of small and special electric machine with novel concept that last century the eighties grow up, and it is using pressure
The inverse piezoelectric effect of electric material, excites elastomer to produce micro breadth oscillation in supersonic range, and will by the friction between stator and rotor
Revolution (straight line) motion that it is converted to rotor (mover), driving load.
Ultrasound electric machine has been achieved for great achievement in the development of nearly 30 years.Part ultrasound electric machine is in aviation
The fields such as space flight, weapon, biomedicine, optics, robot are applied and are commercialized, what is particularly worth mentioning is that traveling wave is rotary-type super
Acoustic-electric machine, because its positioning precision is high, the response time is short, has been applied in the focusing on AF camera lenses on Canon companies camera.
But tooth slot structure is machined with the rotary-type ultrasonic motor stator of traveling wave, structure is more complicated, and cost of manufacture is high, and one can only be realized
The rotary motion of the individual free degree.
The content of the invention
Technical problem to be solved：
Problem to be solved by this invention be propose a kind of low cost, efficiency high, simple structure, be compact, easy to miniaturization,
Response time is short, positioning precision is high, the miniature rotation straight-line traveling wave piezoelectric motor that can be used under miniature occasion.
Technical scheme：
In order to realize function above, the invention provides a kind of miniature rotation straight-line traveling wave piezoelectric motor, including stator pack
Part and screw mandrel 1, it is characterised in that：Described stator module is stacked by a piece of circular sheet 2 and two panels annular piezoelectric ceramic piece 3
Form, described circular sheet 2 is provided with a screwed hole of centre, and uniform several through holes are used for electricity at excircle
The fixed installation of machine；It is interference fit between described screw mandrel 1 and the screwed hole of stator module.
The annular piezoelectric ceramic piece 3 is respectively adhered on the upper and lower surface of circular sheet 2, and the center is equipped with
The coaxial central through hole of heart screwed hole, screw mandrel 1 passes through central through hole；The through-thickness of annular piezoelectric ceramic piece 3 polarizes, and
Electrode even partition on its surface goes out 4 fanned partitions, the upper and lower surface of the circular sheet 2 respectively with annular piezoelectric ceramics
The negative pole of piece 3 overlaps.
The positive pole to adjacent fanned partition on annular piezoelectric ceramic piece 3 applies with pi/2 phase difference just respectively
String ac voltage signal, motivates two spatially orthogonal operation modes of circular sheet 2, and described two operation modes are fixed
Subcenter screwed hole is coupled out the traveling wave rotated around central shaft, and the traveling wave of traveling forces screwed hole Light deformation and clamping screw 1, by
Rotated in rubbing action drive screw 1, simultaneously because threaded connection, screw mandrel 1 causes it in the axial direction around the rotation of axis
Linear motion；When all driving voltage signals reverses being applied on piezoelectric ceramic piece 3, the motion of screw mandrel 1 will be reverse.
During traveling wave at the screwed hole of stator center is circumferentially advanced, the vibration shape of screwed hole inclines wire winding rod 1
Axis rotation, and the angle theta of its axis and the axis of described screw mandrel 1 is equal to the lead angle of screw mandrel 1.
Uniform 8 through holes at the excircle of the circular sheet 2, the through hole is located at the pitch circle of operation mode, for electricity
The fixed installation of machine stator.
Beneficial effect：
A kind of miniature rotation straight-line traveling wave piezoelectric motor of the invention not only have simple structure, be compact, easy to miniaturization,
Low manufacture cost, efficiency high, are adapted to realize high accuracy positioning, quick response under miniature occasion, while the motor can also be defeated
Go out the rotary motion around axis and the linear motion along axis.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples：
Fig. 1 is the overall structure diagram of miniature rotation straight-line traveling wave piezoelectric motor proposed by the present invention；
Fig. 2 is circular sheet structural representation；
Fig. 3 is the polarization mode and scheme of installation of annular piezoelectric ceramic piece；
Fig. 4 is consequently exerted at the voltage signal schematic diagram of the piezoelectric ceramic piece positive pole of circular sheet upper surface；
Fig. 5 is consequently exerted at the voltage signal schematic diagram of the piezoelectric ceramic piece positive pole of circular sheet lower surface；
Fig. 6 is the bending vibation mode picture of operation mode A；
Fig. 7 is the bending vibation mode picture of operation mode B；
Wherein：1- screw mandrels, 2- circular sheets, 2.1- screwed holes, 3- annular piezoelectric ceramic pieces.
Specific embodiment
The miniature rotation straight-line traveling wave piezoelectric motor that the present invention is provided, to make the purpose of the present invention, technical scheme and effect
It is clearer, clearly, and referring to the drawings and give an actual example that the present invention is described in more detail.It should be appreciated that described herein
Specific implementation be only used to explain the present invention, be not intended to limit the present invention.
A kind of miniature rotation straight-line traveling wave piezoelectric motor of the invention, as shown in figure 1, including stator module and screw mandrel 1, institute
The stator module stated is formed by a piece of circular sheet 2 and two panels annular piezoelectric ceramic piece 3 are stacked, and described circular sheet 2 sets
It is equipped with a screwed hole of centre, and uniform several through holes are used for the fixed installations of motor at excircle；The screw mandrel 1
It is assemblied on stator module by screwed hole.As shown in Fig. 2 described circular sheet 2 is provided with a screwed hole of centre, and
Uniform 8 through holes at excircle, the through hole is located at the pitch circle of operation mode, for the fixed installation of motor stator.
As shown in figure 3, the annular piezoelectric ceramic piece 3 is respectively adhered on the upper and lower surface of circular sheet 2, the center be equipped with
The coaxial central through hole of screwed hole of centre, screw mandrel 1 passes through central through hole；The through-thickness of annular piezoelectric ceramic piece 3 polarizes,
And the electrode even partition on its surface goes out 4 fanned partitions, the upper and lower surface of the circular sheet 2 is made pottery with annular piezoelectricity respectively
The negative pole of ceramics 3 overlaps, and even partition goes out 4 fanned partitions on the surface of annular piezoelectric ceramic piece 3.It is illustrated in figure 4
The voltage excitation signals of the annular piezoelectric ceramic piece 3 of the described upper surface of circular sheet 2 are applied to, wherein, adjacent fan-shaped point
Area applies the drive signal with pi/2 phase difference.It is illustrated in figure 5 the annular of the lower surface of circular sheet 2 for being applied to described
The voltage excitation signals of piezoelectric ceramic piece 3, wherein, adjacent fanned partition applies the drive signal with pi/2 phase difference.
Embodiment 1
The exiting principle of operation mode A
When the voltage that the fanned partition 1 of the annular piezoelectric ceramic piece 3 to the upper surface of circular sheet 2 applies sin (ω t) swashs
Signal is encouraged, fanned partition 3 applies the voltage excitation signals of-sin (ω t), while to the annular piezoelectricity of the lower surface of circular sheet 2
The fanned partition 1 of potsherd 3 applies the voltage excitation signals of-sin (ω t), and fanned partition 3 applies the voltage drive of sin (ω t)
Signal.As shown in fig. 6, when sinusoidal AC voltage signal frequency close to the operation mode A of circular sheet 2 (i.e. circular sheet 2
B11Mode, with a pitch circle and a pitch diameter) frequency when, the operation mode A of circular sheet 2 will be motivated, now, circle
The screwed hole of the center of shape thin plate 2 is inclined, i.e., the axis of screwed hole has an angle theta with the axis of described screw mandrel 1, circular thin
8 through holes uniform at plate outer toroid are located at pitch circle, due to no elastic deformation, can be used for the fixed installation of motor stator.
The exiting principle of operation mode B
When the voltage that the fanned partition 2 of the annular piezoelectric ceramic piece 3 to the upper surface of circular sheet 2 applies cos (ω t) swashs
Signal is encouraged, fanned partition 4 applies the voltage excitation signals of-cos (ω t), while to the annular piezoelectricity of the lower surface of circular sheet 2
The fanned partition 2 of potsherd 3 applies the voltage excitation signals of-cos (ω t), and fanned partition 4 applies the voltage drive of cos (ω t)
Signal.As shown in fig. 7, when cosine ac voltage signal frequency close to the operation mode B of circular sheet 2 (i.e. circular sheet 2
B11Mode, with a pitch circle and a pitch diameter) frequency when, the operation mode B of circular sheet 2 will be motivated, now, circle
The screwed hole of the center of shape thin plate 2 is inclined, i.e., the axis of screwed hole has an angle theta with the axis of described screw mandrel 1, circular thin
8 through holes uniform at plate outer toroid are located at pitch circle, due to no elastic deformation, can be used for the fixed installation of motor stator.
When two mode is encouraged simultaneously, because described operation mode A and operation mode B spatially has pi/2 phase
Potential difference, simultaneously because two alternating voltage pumping signals being applied on annular piezoelectric ceramic piece 3 have pi/2 phase in time
Potential difference, therefore the screwed hole of the above-mentioned two operation mode heart in the stator is coupled out the traveling wave rotated around central shaft, the traveling wave of traveling
Screwed hole Light deformation is forced and clamping screw 1, because rubbing action drive screw 1 is rotated, simultaneously because threaded connection, screw mandrel 1
Be rotated about axis the linear motion for causing it along axis, it is thereby achieved that the two degree-of-freedom motion of motor.If driving voltage is believed
Number revert all, rotation-linear motion of screw mandrel 1 will be reverse.What the traveling wave at the screwed hole of stator center was circumferentially advanced
During, the vibration shape of screwed hole inclines the axis rotation of wire winding rod 1, and its axis and the described angle theta of axis of screw mandrel 1 etc.
In the lead angle of screw mandrel 1, force screwed hole to produce Light deformation simultaneously as traveling wave is advanced, cause the axis in hole and original axle
Line produces angle theta, increases the precompression that screw thread coordinates with screw mandrel 1.
It is understood that for those of ordinary skills, can be with technology according to the present invention scheme and its hair
Bright design is subject to equivalent or change, and all these changes or replacement should all belong to the guarantor of appended claims of the invention
Shield scope.
Claims (3)
1. a kind of miniature rotation straight-line traveling wave piezoelectric motor, including stator module and screw mandrel (1), it is characterised in that：Described determines
Sub-component is formed by a piece of circular sheet (2) and two panels annular piezoelectric ceramic piece (3) are stacked, and described circular sheet (2) sets
It is equipped with a screwed hole of centre, and uniform several through holes are used for the fixed installations of motor at excircle；Described silk
Bar (1) is interference fit and the screwed hole of stator module between；
The annular piezoelectric ceramic piece (3) is respectively adhered on the upper and lower surface of circular sheet (2), and the center is equipped with
The coaxial central through hole of heart screwed hole, screw mandrel (1) is through central through hole；Annular piezoelectric ceramic piece (3) the through-thickness pole
Change, and electrode even partition on its surface goes out 4 fanned partitions, circular sheet (2) upper and lower surface respectively with annular
The negative pole of piezoelectric ceramic piece (3) overlaps；
Positive pole to adjacent fanned partition on the annular piezoelectric ceramic piece (3) applies the sine with pi/2 phase difference respectively
Ac voltage signal, motivates two spatially orthogonal operation modes of circular sheet (2), and described two operation modes are fixed
Subcenter screwed hole is coupled out the traveling wave rotated around central shaft, and the traveling wave of traveling forces screwed hole Light deformation and clamping screw (1),
Because rubbing action drive screw (1) is rotated, simultaneously because being threadedly coupled, screw mandrel (1) causes it along axis around the rotation of axis
The linear motion in direction；When all driving voltage signals reverses being applied on piezoelectric ceramic piece (3), the motion of screw mandrel (1)
Will be reverse.
2. miniature rotation straight-line traveling wave piezoelectric motor according to claim 1, it is characterised in that：When the screw thread of stator center
During traveling wave at hole is circumferentially advanced, the vibration shape of screwed hole inclines the axis rotation of wire winding rod (1), and its axis and institute
The angle theta of the axis of the screw mandrel (1) stated is equal to the lead angle of screw mandrel (1).
3. miniature rotation straight-line traveling wave piezoelectric motor according to claim 1 and 2, it is characterised in that：The annular is thin
Uniform 8 through holes at plate (2) excircle, the through hole is located at the pitch circle of operation mode, for the fixed installation of motor stator.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410707163.3A CN104410324B (en) | 2014-11-27 | 2014-11-27 | A kind of miniature rotation straight-line traveling wave piezoelectric motor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410707163.3A CN104410324B (en) | 2014-11-27 | 2014-11-27 | A kind of miniature rotation straight-line traveling wave piezoelectric motor |
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| CN104410324A CN104410324A (en) | 2015-03-11 |
| CN104410324B true CN104410324B (en) | 2017-06-30 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106208804B (en) * | 2016-08-01 | 2019-07-19 | 南京航空航天大学 | A kind of electric excitation mode of high speed rotation ultrasound electric machine and its stator |
| CN106100440B (en) * | 2016-08-01 | 2019-07-19 | 南京航空航天大学 | One kind being based on out-of-plane bending vibration mode high speed rotation ultrasound electric machine |
| CN109922253B (en) * | 2017-12-13 | 2023-06-02 | 北京小米移动软件有限公司 | Lens anti-shake method and device and mobile equipment |
| CN108306548B (en) * | 2018-04-11 | 2023-07-25 | 中国工程物理研究院电子工程研究所 | Driving structure of traveling wave micromotor |
| CN111682795B (en) * | 2020-06-12 | 2022-09-27 | 南京航达超控科技有限公司 | Rotary traveling wave ultrasonic motor with backup function and drive control method thereof |
| CN113928055B (en) * | 2021-10-25 | 2024-05-28 | 江西农业大学 | High-mobility wheel type mobile device based on piezoelectric drive and control method thereof |
| CN114400924B (en) * | 2022-01-24 | 2024-01-12 | 温州大学 | Single-phase excited micro linear-rotary motion two-degree-of-freedom piezoelectric motor |
Citations (1)
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|---|---|---|---|---|
| CN1366379A (en) * | 2001-12-21 | 2002-08-28 | 清华大学 | Single-pitch non-axial-symmetrical vibration membrane type micromotor with piezoelectric membrane |
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| JPH0799151B2 (en) * | 1988-06-22 | 1995-10-25 | 三菱電機株式会社 | Scroll compressor |
| FR2743457B1 (en) * | 1996-01-04 | 1998-03-06 | Figest Bv | PROGRESSIVE WAVE PIEZOELECTRIC MOTOR |
| WO2008124457A1 (en) * | 2007-04-03 | 2008-10-16 | Shuxiang Dong | Miniature piezoelectric motor and method of driving elements using same |
| KR101636909B1 (en) * | 2009-02-03 | 2016-07-06 | 삼성전자주식회사 | Piezoelectric ultrasonic motor and method for fabricating the same |
| CN101710802B (en) * | 2009-12-14 | 2012-05-30 | 南通大学 | Traveling wave type ultrasonic motor of minitype column |
| CN204465382U (en) * | 2014-11-27 | 2015-07-08 | 南京航空航天大学 | A kind of miniature rotation straight-line traveling wave piezoelectric motor |
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| CN1366379A (en) * | 2001-12-21 | 2002-08-28 | 清华大学 | Single-pitch non-axial-symmetrical vibration membrane type micromotor with piezoelectric membrane |
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